KINOVA
®
Gen3 Ultra lightweight robot User Guide 75
Cartesian Mode
Translation and orientation of the end effector (EE) are defined in the task space. Then, a
generalized Inverse Kinematics (IK) solver determines the robot joint movements needed
to reach the target motion.
Cartesian Admittance Mode
Allows the application of external force to the EE, so as to guide the arm to a new
position.
Joint Admittance Mode
Allows the application of external force at the links, without affecting the EE pose.
Null Space Admittance Mode
Robot configuration can be changed by applying external forces at the links without
affecting the EE pose.
Trajectory Mode
A specific trajectory in the robot Cartesian workspace (e.g., a straight line trajectory for
the end effector) can be defined bu the user.
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